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<div class="title">geometric_consistency.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/cg/correspondence_grouping.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_geometric_consistency_grouping.html">GeometricConsistencyGrouping</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping</a>&lt;PointModelT, PointSceneT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointModelT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::SceneCloudConstPtr SceneCloudConstPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a1a0624198a023d8d0f8a25c2d7a9ce24">   65</a></span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a1a0624198a023d8d0f8a25c2d7a9ce24">GeometricConsistencyGrouping</a> () </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        : <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">gc_threshold_</a> (3)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        , <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">gc_size_</a> (1.0)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        , <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#ace9987aa36bb1071204af6d800ea5a83">found_transformations_</a> ()</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      {}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a39fb9d2a82bc648e061252717c9f1dab">   76</a></span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a39fb9d2a82bc648e061252717c9f1dab">setGCThreshold</a> (<span class="keywordtype">int</span> threshold)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">gc_threshold_</a> = threshold;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a37cebdc7e6ddd57ec424be63d39604c1">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a37cebdc7e6ddd57ec424be63d39604c1">getGCThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">gc_threshold_</a>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a48745b189a5d7cb834df316889ae84c6">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a48745b189a5d7cb834df316889ae84c6">setGCSize</a> (<span class="keywordtype">double</span> gc_size)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">gc_size_</a> = gc_size;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#ad3ce00e248fee1986a829a82395e8f23">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#ad3ce00e248fee1986a829a82395e8f23">getGCSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">gc_size_</a>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">recognize</a> (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">recognize</a> (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations, std::vector&lt;pcl::Correspondences&gt; &amp;clustered_corrs);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::input_</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::scene_</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::model_scene_corrs_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">  136</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">gc_threshold_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">  139</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">gc_size_</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#ace9987aa36bb1071204af6d800ea5a83">  142</a></span>&#160;      std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#ace9987aa36bb1071204af6d800ea5a83">found_transformations_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a4f9a23ce63b055b47ad20fdf4ab41855">clusterCorrespondences</a> (std::vector&lt;Correspondences&gt; &amp;model_instances);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  };</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/impl/cg/geometric_consistency.hpp&gt;</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_correspondence_grouping_html"><div class="ttname"><a href="classpcl_1_1_correspondence_grouping.html">pcl::CorrespondenceGrouping</a></div><div class="ttdoc">Abstract base class for Correspondence Grouping algorithms.</div><div class="ttdef"><b>Definition:</b> correspondence_grouping.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html">pcl::GeometricConsistencyGrouping</a></div><div class="ttdoc">Class implementing a 3D correspondence grouping enforcing geometric consistency among feature corresp...</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a185cf005b567af91266a9ab5e93423c5"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a185cf005b567af91266a9ab5e93423c5">pcl::GeometricConsistencyGrouping::gc_threshold_</a></div><div class="ttdeci">int gc_threshold_</div><div class="ttdoc">Minimum cluster size. It shouldn't be less than 3, since at least 3 correspondences are needed to com...</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a1a0624198a023d8d0f8a25c2d7a9ce24"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a1a0624198a023d8d0f8a25c2d7a9ce24">pcl::GeometricConsistencyGrouping::GeometricConsistencyGrouping</a></div><div class="ttdeci">GeometricConsistencyGrouping()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a37cebdc7e6ddd57ec424be63d39604c1"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a37cebdc7e6ddd57ec424be63d39604c1">pcl::GeometricConsistencyGrouping::getGCThreshold</a></div><div class="ttdeci">int getGCThreshold() const</div><div class="ttdoc">Gets the minimum cluster size.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a39fb9d2a82bc648e061252717c9f1dab"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a39fb9d2a82bc648e061252717c9f1dab">pcl::GeometricConsistencyGrouping::setGCThreshold</a></div><div class="ttdeci">void setGCThreshold(int threshold)</div><div class="ttdoc">Sets the minimum cluster size</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a48745b189a5d7cb834df316889ae84c6"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a48745b189a5d7cb834df316889ae84c6">pcl::GeometricConsistencyGrouping::setGCSize</a></div><div class="ttdeci">void setGCSize(double gc_size)</div><div class="ttdoc">Sets the consensus set resolution. This should be in metric units.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a4f9a23ce63b055b47ad20fdf4ab41855"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a4f9a23ce63b055b47ad20fdf4ab41855">pcl::GeometricConsistencyGrouping::clusterCorrespondences</a></div><div class="ttdeci">void clusterCorrespondences(std::vector&lt; Correspondences &gt; &amp;model_instances)</div><div class="ttdoc">Cluster the input correspondences in order to distinguish between different instances of the model in...</div><div class="ttdef"><b>Definition:</b> geometric_consistency.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a5c3915445ccc1c6bc0f4fd2ac936b6ca"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a5c3915445ccc1c6bc0f4fd2ac936b6ca">pcl::GeometricConsistencyGrouping::gc_size_</a></div><div class="ttdeci">double gc_size_</div><div class="ttdoc">Resolution of the consensus set used to cluster correspondences together</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_abded7fa54f6a24ff4d70fce277ed4ed6"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">pcl::GeometricConsistencyGrouping::recognize</a></div><div class="ttdeci">bool recognize(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transformations)</div><div class="ttdoc">The main function, recognizes instances of the model into the scene set by the user.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_ace9987aa36bb1071204af6d800ea5a83"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#ace9987aa36bb1071204af6d800ea5a83">pcl::GeometricConsistencyGrouping::found_transformations_</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; found_transformations_</div><div class="ttdoc">Transformations found by clusterCorrespondences method.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_ad3ce00e248fee1986a829a82395e8f23"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#ad3ce00e248fee1986a829a82395e8f23">pcl::GeometricConsistencyGrouping::getGCSize</a></div><div class="ttdeci">double getGCSize() const</div><div class="ttdoc">Gets the consensus set resolution.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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